WO2012013304A1 - Système de poursuite pour une navigation médicale optique, dispositif de marqueur optique passif pour système de poursuite et son utilisation - Google Patents

Système de poursuite pour une navigation médicale optique, dispositif de marqueur optique passif pour système de poursuite et son utilisation Download PDF

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Publication number
WO2012013304A1
WO2012013304A1 PCT/EP2011/003545 EP2011003545W WO2012013304A1 WO 2012013304 A1 WO2012013304 A1 WO 2012013304A1 EP 2011003545 W EP2011003545 W EP 2011003545W WO 2012013304 A1 WO2012013304 A1 WO 2012013304A1
Authority
WO
WIPO (PCT)
Prior art keywords
trackersystem
retroreflective
passive optical
tracker system
ball
Prior art date
Application number
PCT/EP2011/003545
Other languages
German (de)
English (en)
Inventor
Erwin Keeve
Weichen Liu
Original Assignee
Charité - Universitätsmedizin Berlin
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Charité - Universitätsmedizin Berlin filed Critical Charité - Universitätsmedizin Berlin
Publication of WO2012013304A1 publication Critical patent/WO2012013304A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B5/00—Optical elements other than lenses
    • G02B5/12—Reflex reflectors
    • G02B5/126—Reflex reflectors including curved refracting surface
    • G02B5/132—Reflex reflectors including curved refracting surface with individual reflector mounting means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00831—Material properties
    • A61B2017/00902—Material properties transparent or translucent
    • A61B2017/00907—Material properties transparent or translucent for light
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0813—Accessories designed for easy sterilising, i.e. re-usable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3983—Reference marker arrangements for use with image guided surgery

Definitions

  • Tracker system for optical medical navigation passive optical marker device for tracker system and their use
  • the invention relates to technologies in the field of optical medical navigation.
  • Optical medical navigation which can also be referred to as optical medical positioning, is used for the exact spatial positioning of medical instruments or any medical aids in use.
  • optical medical navigation is used to spatially position and navigate instruments during the operation.
  • Application is the optical medical positioning, especially in the field of neurosurgery.
  • the course of measurement light beams is detected in order to determine a spatial position of the object to be navigated, taking advantage of the laws of geometry.
  • So-called active optical marker devices are known, which themselves emit measuring light, which is received by an associated detector device, which is usually designed as a camera system.
  • passive optical marker devices are known which at least partially reflect light rays emitted by a light source, so that the reflected measuring light beams are detected by the detector device. The spatial position of the object in question is then determined from the measurement signals detected by the detector device.
  • tracker systems in which a plurality of optical marker devices are arranged on a base structure.
  • the tracker system is mounted in use on a medical instrument or medical device of any kind. In this way, in the optical medical navigation, the spatial position of the instrument or aid can be determined exactly.
  • the passive optical marker device is formed with a glass ball, which on a for
  • CONFIRMATION COPY outer ball surface of the glass ball is glued complementary bearing surface.
  • the support surface is provided with a reflective layer to reflect the incident on the glass ball measuring light rays, so that they can be detected by the camera system.
  • the known passive optical markers are only partially suitable for practical use. Either they are designed as disposable, which means a high cost, or they do not tolerate enough with the procedures for sterilization of the marker devices, which is necessary for repeated use in medicine.
  • the known marker devices are not autoclavable.
  • the object of the invention is to provide new technologies in connection with the optical medical navigation, in particular an improved tracker system, in which the problems of the prior art are avoided.
  • the invention encompasses the idea of an optical medical navigation tracker system having a base structure configured for mounting on a medical instrument or tool, and passive optical marker devices spaced and configured on the base structure for medical navigation thereon at least partially reflecting incident measuring light, wherein the passive optical marker devices are each formed with a retroreflector.
  • a passive optical marker device for an optical medical navigation tracker system configured to at least partially reflect incident measurement light in a medical navigation and having a retroreflector.
  • the passive optical marker device may be integrated into a medical instrument or medical device.
  • Retroreflection generally means that light incident on an object or on a surface emanating from a light source is reflected back toward the light source.
  • the use of a retroreflector in the passive optical marker device improves the efficiency of measuring light utilization by minimizing leakage due to retroreflection.
  • a preferred embodiment of the invention provides that the passive optical marker devices are formed as a ball marker.
  • the ball markers are formed with an inner retroreflective ball, which has a reflection layer on the outer spherical surface, and a coating layer surrounding the inner retroreflective ball of a transparent material for the measuring light.
  • the enveloping layer surrounding the inner retroreflective ball breaks the measuring light rays incident on it toward the inner sphere.
  • the measuring light beams incident on the inner retroreflective ball are then retroreflected.
  • the area of the associated passive optical marker device which is effective for the measurement light beams is increased.
  • the outer shell layer protects the inner retroreflective ball against external influences, especially in the sterilization in the autoclave necessary in medicine.
  • the marker devices formed in this way are readily usable again.
  • An advantageous embodiment of the invention provides that the thickness of the cladding layer is approximately equal to the diameter of the inner retroreflective ball.
  • a development of the invention provides that retroreflective structures are formed on an inner spherical surface of the cladding layer.
  • the retroreflective structures on the inner spherical surface of the cladding layer can be produced, for example, by means of stamping, pressing and / or laser processing. This is done in the context of the production of the passive optical marker device, for example, in that two spherical shell halves, which together form the cladding layer, are processed on the inside to form the retroreflective structures and then glued together so that the spherical marker device is produced.
  • a ball is provided on the outer surface with retroreflective structures, in order subsequently to the ball for forming the cladding layer with a to transfuse transparent material.
  • the inner sphere may be a hollow sphere.
  • the region of the inner sphere is filled with a material after the retroreflective structures have been produced on the inner spherical shell surface of the enveloping layer.
  • the outer layer is provided at least partially outside with a coating.
  • the outer coating may comprise an antireflective layer.
  • the cladding layer is made of a glass or a plastic material.
  • Glass or plastic materials are particularly suitable for producing a tracker system which meets the requirements for the sterilization of medical instruments or aids. In particular, glass ensures adequate material resistance.
  • FIG. 1 is a schematic representation of a passive optical marker device
  • FIG. 3 shows a schematic illustration of a tracker system with a plurality of passive optical marker devices
  • FIG. 4 shows a schematic representation of a further tracker system with a plurality of passive optical marker devices, which are arranged at a base structure at a distance, and
  • FIG. 5 shows a schematic representation of another tracker system in which passive optical marker devices themselves serve as connection nodes.
  • the ball marker 1 shows a schematic representation of a passive optical marker device in which a ball marker 1 is arranged on a holding element 2.
  • the ball marker 1 consists of an inner retroreflective ball 3 and a cladding layer 4 which completely surrounds the inner retroreflective ball 3.
  • the cladding layer 4 is formed of a material transparent to measuring light rays 5, for example glass or plastic.
  • the incident measuring light beams 5 strike the outer surface of the cladding layer 4 and are refracted toward the inner retroreflective ball 3. On the surface of the inner retroreflective ball 3, the measuring light beams are then retroreflected so that they are reflected back in their direction of incidence.
  • FIG. 2 shows a schematic representation for comparing an effective angular range for various passive optical marker devices.
  • Figure a) shows the angular relationships for a passive optical marker, in which a glass ball 20 is arranged in a receptacle 21, which provides a ball surface for complementary formed and provided with a reflective layer surface for ball shot. This results in an effective angle range ⁇ of less than 120 °.
  • Image b) shows in the middle of Fig. 2 the conditions for a passive optical marker device, in which a ball is used with light-reflecting surface.
  • the effective angular range is ⁇ ⁇ 150 °.
  • image c) in FIG. 2 shows the conditions for the passive optical marker device according to the invention from FIG. 1.
  • the effective angular range is ⁇ > 180 °.
  • FIG. 3 shows a schematic representation of a tracker system for optical medical navigation, in which a plurality of passive optical markers 31 are arranged on a base structure 30.
  • the passive optical marker devices 31 are each provided with a retroreflector, for example in the embodiment shown in FIG.
  • FIG. 4 shows a schematic representation of another tracker system, wherein the same reference numerals as in FIG. 3 were used in FIG. 4 for the same features.
  • FIG. 5 shows a schematic representation of another tracker system with base structure 30 and passive optical marker device 31.
  • a node or connection point 32 within the base structure 30 is characterized by a passive optical Marker device itself formed. This is possible because the cladding layer externally protects the inner retroreflective sphere effective in optical medical navigation. In this way, novel tracker systems for optical medical navigation can be produced variably.
  • the integration of the passive optical marker device into the base or support structure itself also expands the possibilities of using the marker devices on the medical devices or aids themselves.

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  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Optics & Photonics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Pathology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un système de poursuite pour une navigation médicale optique, comportant une structure de base (30), qui est configurée pour un montage sur un instrument médical ou un auxiliaire médical, et des dispositifs marqueurs optiques passifs (31) qui sont disposés à distance les uns des autres sur la structure de base (30) et sont configurés de manière à réfléchir au moins partiellement une lumière de mesure incidente lors d'une navigation médicale, les dispositifs marqueurs optiques passifs (31) étant formés chacun avec un rétroréflecteur.
PCT/EP2011/003545 2010-07-29 2011-07-15 Système de poursuite pour une navigation médicale optique, dispositif de marqueur optique passif pour système de poursuite et son utilisation WO2012013304A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010036719A DE102010036719A1 (de) 2010-07-29 2010-07-29 Trackersystem für optische medizinische Navigation, passive optische Markervorrichtung für Trackersystem sowie deren Verwendung
DE102010036719.2 2010-07-29

Publications (1)

Publication Number Publication Date
WO2012013304A1 true WO2012013304A1 (fr) 2012-02-02

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DE (1) DE102010036719A1 (fr)
WO (1) WO2012013304A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103654965A (zh) * 2013-12-03 2014-03-26 华南理工大学 一种用于光学手术导航系统的标记点及图像提取方法
US9498231B2 (en) 2011-06-27 2016-11-22 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
CN105055022B (zh) * 2015-06-30 2017-10-20 华南理工大学 一种手术导航通用标记结构及其图像位置获取方法
US10105149B2 (en) 2013-03-15 2018-10-23 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
US10219811B2 (en) 2011-06-27 2019-03-05 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
US11272142B2 (en) 2013-03-06 2022-03-08 Koninklijke Philips N.V. System and method for determining vital sign information
US11911117B2 (en) 2011-06-27 2024-02-27 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013219728A1 (de) 2013-09-30 2015-04-16 Siemens Aktiengesellschaft Medizinsystem mit einem optisch arbeitenden Navigationssystem und Verfahren zur optischen medizinischen Navigation
DE102015117239A1 (de) * 2015-10-09 2017-04-13 Aesculap Ag Chirurgisches Markerelement, chirurgische Referenzierungseinheit und chirurgisches Navigationssystem
WO2017144115A1 (fr) 2016-02-26 2017-08-31 Brainlab Ag Champ opératoire stérile muni de couverture de réseau de référence de suivi à stabilité intrinsèque

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DE19639615A1 (de) * 1996-09-26 1998-04-09 Brainlab Med Computersyst Gmbh Neuronavigationssystem
WO2004075768A2 (fr) * 2003-02-25 2004-09-10 Image-Guided Neurologics, Inc. Systemes de reperes fiduciels et outils et procedes associes
DE102005030184A1 (de) * 2005-06-29 2007-01-04 Aesculap Ag & Co. Kg Verfahren zur Bestimmung der Relativposition eines Markierelementes an einem chirurgischen Instrument sowie chirurgisches Instrument und Navigationssystem zur Durchführung dieses Verfahrens
US20070183041A1 (en) * 2006-02-09 2007-08-09 Northern Digital Inc. Retroreflective marker-tracking systems
EP1854426A1 (fr) * 2003-02-04 2007-11-14 Zimmer Technology, Inc. Instrument de navigation chirurgicale utile pour le marquage de structures anatomiques
EP1244394B1 (fr) * 1999-12-23 2009-02-25 Northern Digital Inc. Systeme de reflecteurs pour la determination d'une position
WO2009135838A1 (fr) * 2008-05-06 2009-11-12 Bernhard Hauri Marqueur pour système de navigation

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19639615A1 (de) * 1996-09-26 1998-04-09 Brainlab Med Computersyst Gmbh Neuronavigationssystem
EP1244394B1 (fr) * 1999-12-23 2009-02-25 Northern Digital Inc. Systeme de reflecteurs pour la determination d'une position
EP1854426A1 (fr) * 2003-02-04 2007-11-14 Zimmer Technology, Inc. Instrument de navigation chirurgicale utile pour le marquage de structures anatomiques
WO2004075768A2 (fr) * 2003-02-25 2004-09-10 Image-Guided Neurologics, Inc. Systemes de reperes fiduciels et outils et procedes associes
DE102005030184A1 (de) * 2005-06-29 2007-01-04 Aesculap Ag & Co. Kg Verfahren zur Bestimmung der Relativposition eines Markierelementes an einem chirurgischen Instrument sowie chirurgisches Instrument und Navigationssystem zur Durchführung dieses Verfahrens
US20070183041A1 (en) * 2006-02-09 2007-08-09 Northern Digital Inc. Retroreflective marker-tracking systems
WO2009135838A1 (fr) * 2008-05-06 2009-11-12 Bernhard Hauri Marqueur pour système de navigation

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9498231B2 (en) 2011-06-27 2016-11-22 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
US10080617B2 (en) 2011-06-27 2018-09-25 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
US10219811B2 (en) 2011-06-27 2019-03-05 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
US11911117B2 (en) 2011-06-27 2024-02-27 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
US11272142B2 (en) 2013-03-06 2022-03-08 Koninklijke Philips N.V. System and method for determining vital sign information
US10105149B2 (en) 2013-03-15 2018-10-23 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
CN103654965A (zh) * 2013-12-03 2014-03-26 华南理工大学 一种用于光学手术导航系统的标记点及图像提取方法
CN105055022B (zh) * 2015-06-30 2017-10-20 华南理工大学 一种手术导航通用标记结构及其图像位置获取方法

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